Inverse dynamics control of constrained robots in the presence of joint flexibility

Journal of Sound and Vibration

Volumn 224, Issue 5, 1999, Pages 879-895

  Ider, S Kemal ^a  

^a MIDDLE EAST TECHNICAL UNIVERSITY   (Turkey)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0039628165     PISSN: 0022460X     EISSN: None     Source Type: Journal    
DOI: 10.1006/jsvi.1999.2202     Document Type: Article

References (14)

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3. M. W. SPONG 1987 ASME Journal of Dynamic Systems Measurement and Control 109, 310-319. Modelling and control of elastic joint robots.
4. M. G. FORREST-BARLACH and S. M. BABCOCK 1987 IEEE Journal of Robotics and Automation 3, 75-83. Inverse dynamics task control of a complaint manipulator.
5. A. DE LUCA 1988 Proceedings of the IEEE Conference on Robotics and Automation, Philadelphia, 152-158. Dynamic control of robots with joint elasticity.
6. K. P. JANKOWSKI and H. VAN BRUSSEL 1992 IEEE Transactions on Robotics and Automation 8, 651-658. An approach to discrete inverse dynamics control of flexible-joint robots.
7. M. W. SPONG 1987 IEEE Journal of Robotics and Automation 3, 291-300. An integral manifold approach to the feedback control of flexible joint robots.
8. S. GOGATE and Y. LIN 1993 Robotica 11, 273-282. Formulation and control of robots with link and joint flexibility.
9. K. KHORASANI 1992 IEEE Transactions on Robotics and Automation 8, 250-267. Adaptive control of flexible-joint robots.
10. J. LIAN, J. JEAN and L. C. FU 1991 IEEE Transactions on Robotics and Automation 7, 540-545. Adaptive force control of single-link mechanism.
11. K. P. JANKOWSKI and H. A. ELMARAGHY 1994 Robotica 12, 227-241. Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots.
12. Y. R. HU and A. A. GOLDENBERG 1994. ASME Journal of Dynamic Systems, Measurement and Control 116, 326-335. An approach to motion and force control of coordinated robot arms in the presence of joint flexibility.
13. S. K. IDER 1995 Journal of Robotic Systems 12, 569-579. Inverse dynamics of redundant manipulators using a minimum number of control forces.
14. C. W. GEAR and L. R. PETZOLD 1984 SIAM Journal of Numerical Analysis 21, 716-728. ODE methods for the solution of differential/algebraic systems.